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<div class="title">image_depth.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2011 Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_config.h&gt;</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_IO_IMAGE_DEPTH_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_IO_IMAGE_DEPTH_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_exports.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/io/boost.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;boost/chrono.hpp&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include&lt;pcl/io/image_metadata_wrapper.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;{</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keyword">namespace </span>io</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  {</div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_depth_image.html">   56</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1io_1_1_depth_image.html">DepthImage</a></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    {</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;DepthImage&gt; Ptr;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const DepthImage&gt; ConstPtr;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        <span class="keyword">typedef</span> boost::chrono::high_resolution_clock Clock;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        <span class="keyword">typedef</span> boost::chrono::high_resolution_clock::time_point Timestamp;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_depth_image.html#abce7894729ee56f69391940b5e98af18">   74</a></span>&#160;        <a class="code" href="classpcl_1_1io_1_1_depth_image.html#abce7894729ee56f69391940b5e98af18">DepthImage</a> (FrameWrapper::Ptr depth_metadata, <span class="keywordtype">float</span> baseline, <span class="keywordtype">float</span> focal_length, pcl::uint64_t shadow_value, pcl::uint64_t no_sample_value);</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <a class="code" href="classpcl_1_1io_1_1_depth_image.html">DepthImage</a> (FrameWrapper::Ptr depth_metadata, <span class="keywordtype">float</span> baseline, <span class="keywordtype">float</span> focal_length, pcl::uint64_t shadow_value, pcl::uint64_t no_sample_value, Timestamp time);</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_depth_image.html#adfaa641a54a27af0747c751e3589ebdd">   78</a></span>&#160;        <a class="code" href="classpcl_1_1io_1_1_depth_image.html#adfaa641a54a27af0747c751e3589ebdd">~DepthImage</a> ();</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <span class="keyword">const</span> FrameWrapper::Ptr</div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_depth_image.html#a7607f7aa2e47c902c05afc66e6703b08">   84</a></span>&#160;        <a class="code" href="classpcl_1_1io_1_1_depth_image.html#a7607f7aa2e47c902c05afc66e6703b08">getMetaData</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_depth_image.html#ac47ce107cd62894a56021bee3b753670">   94</a></span>&#160;        <a class="code" href="classpcl_1_1io_1_1_depth_image.html#ac47ce107cd62894a56021bee3b753670">fillDisparityImage</a> (<span class="keywordtype">unsigned</span> width, <span class="keywordtype">unsigned</span> height, <span class="keywordtype">float</span>* disparity_buffer, <span class="keywordtype">unsigned</span> line_step = 0) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_depth_image.html#a013546827ef1e1d3bba4a0ed30337558">  104</a></span>&#160;        <a class="code" href="classpcl_1_1io_1_1_depth_image.html#a013546827ef1e1d3bba4a0ed30337558">fillDepthImage</a> (<span class="keywordtype">unsigned</span> width, <span class="keywordtype">unsigned</span> height, <span class="keywordtype">float</span>* depth_buffer, <span class="keywordtype">unsigned</span> line_step = 0) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_depth_image.html#a7db23d173639e4586854138a45156178">  114</a></span>&#160;        <a class="code" href="classpcl_1_1io_1_1_depth_image.html#a7db23d173639e4586854138a45156178">fillDepthImageRaw</a> (<span class="keywordtype">unsigned</span> width, <span class="keywordtype">unsigned</span> height, <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span>* depth_buffer, <span class="keywordtype">unsigned</span> line_step = 0) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <span class="keywordtype">float</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_depth_image.html#a11b82eb33cc8602f0a40f9d9c2e4a0c4">  120</a></span>&#160;        <a class="code" href="classpcl_1_1io_1_1_depth_image.html#a11b82eb33cc8602f0a40f9d9c2e4a0c4">getBaseline</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        <span class="keywordtype">float</span></div>
<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_depth_image.html#a90c12640e59adb8f576279ab1bbae358">  126</a></span>&#160;        <a class="code" href="classpcl_1_1io_1_1_depth_image.html#a90c12640e59adb8f576279ab1bbae358">getFocalLength</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        pcl::uint64_t</div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_depth_image.html#a525f4476922e79d7bc330e468552a0a0">  132</a></span>&#160;        <a class="code" href="classpcl_1_1io_1_1_depth_image.html#a525f4476922e79d7bc330e468552a0a0">getShadowValue</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        pcl::uint64_t</div>
<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_depth_image.html#a76e78a78b85ad90b8945a88022758058">  138</a></span>&#160;        <a class="code" href="classpcl_1_1io_1_1_depth_image.html#a76e78a78b85ad90b8945a88022758058">getNoSampleValue</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        <span class="keywordtype">unsigned</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_depth_image.html#a851a92e1c835d27e3c8bcaa2c9bbc75b">  142</a></span>&#160;        <a class="code" href="classpcl_1_1io_1_1_depth_image.html#a851a92e1c835d27e3c8bcaa2c9bbc75b">getWidth</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <span class="keywordtype">unsigned</span></div>
<div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_depth_image.html#a42aa80360eb334ff376e95588502472d">  146</a></span>&#160;        <a class="code" href="classpcl_1_1io_1_1_depth_image.html#a42aa80360eb334ff376e95588502472d">getHeight</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        <span class="keywordtype">unsigned</span></div>
<div class="line"><a name="l00152"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_depth_image.html#aef468d7e0245e1989e5dcac41672e68c">  152</a></span>&#160;        <a class="code" href="classpcl_1_1io_1_1_depth_image.html#aef468d7e0245e1989e5dcac41672e68c">getFrameID</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        pcl::uint64_t</div>
<div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_depth_image.html#ade7ea904db078af4610229e96c639718">  159</a></span>&#160;        <a class="code" href="classpcl_1_1io_1_1_depth_image.html#ade7ea904db078af4610229e96c639718">getTimestamp</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        Timestamp</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        getSystemTimestamp () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        <span class="comment">// Get a const pointer to the raw depth buffer</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span>*</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        getData ();</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        <span class="comment">// Data buffer size in bytes</span></div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        getDataSize () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        <span class="comment">// Size of each row, including any padding</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">unsigned</span></div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        getStep()<span class="keyword"> const</span></div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;          <span class="keywordflow">return</span> (getDataSize() / getHeight());</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        }</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        pcl::io::FrameWrapper::Ptr wrapper_;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        <span class="keywordtype">float</span> baseline_;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        <span class="keywordtype">float</span> focal_length_;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        pcl::uint64_t shadow_value_;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        pcl::uint64_t no_sample_value_;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        Timestamp timestamp_;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    };</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;}} <span class="comment">// namespace</span></div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_IO_IMAGE_DEPTH_H_</span></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_depth_image_html"><div class="ttname"><a href="classpcl_1_1io_1_1_depth_image.html">pcl::io::DepthImage</a></div><div class="ttdoc">This class provides methods to fill a depth or disparity image.</div><div class="ttdef"><b>Definition:</b> image_depth.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_depth_image_html_a013546827ef1e1d3bba4a0ed30337558"><div class="ttname"><a href="classpcl_1_1io_1_1_depth_image.html#a013546827ef1e1d3bba4a0ed30337558">pcl::io::DepthImage::fillDepthImage</a></div><div class="ttdeci">void fillDepthImage(unsigned width, unsigned height, float *depth_buffer, unsigned line_step=0) const</div><div class="ttdoc">fills a user given block of memory with the disparity values with additional nearest-neighbor down-sc...</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_depth_image_html_a11b82eb33cc8602f0a40f9d9c2e4a0c4"><div class="ttname"><a href="classpcl_1_1io_1_1_depth_image.html#a11b82eb33cc8602f0a40f9d9c2e4a0c4">pcl::io::DepthImage::getBaseline</a></div><div class="ttdeci">float getBaseline() const</div><div class="ttdoc">method to access the baseline of the &quot;stereo&quot; frame that was used to retrieve the depth image.</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_depth_image_html_a42aa80360eb334ff376e95588502472d"><div class="ttname"><a href="classpcl_1_1io_1_1_depth_image.html#a42aa80360eb334ff376e95588502472d">pcl::io::DepthImage::getHeight</a></div><div class="ttdeci">unsigned getHeight() const</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_depth_image_html_a525f4476922e79d7bc330e468552a0a0"><div class="ttname"><a href="classpcl_1_1io_1_1_depth_image.html#a525f4476922e79d7bc330e468552a0a0">pcl::io::DepthImage::getShadowValue</a></div><div class="ttdeci">pcl::uint64_t getShadowValue() const</div><div class="ttdoc">method to access the shadow value, that indicates pixels lying in shadow in the depth image.</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_depth_image_html_a7607f7aa2e47c902c05afc66e6703b08"><div class="ttname"><a href="classpcl_1_1io_1_1_depth_image.html#a7607f7aa2e47c902c05afc66e6703b08">pcl::io::DepthImage::getMetaData</a></div><div class="ttdeci">const FrameWrapper::Ptr getMetaData() const</div><div class="ttdoc">method to access the internal data structure from OpenNI. If the data is accessed just read-only,...</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_depth_image_html_a76e78a78b85ad90b8945a88022758058"><div class="ttname"><a href="classpcl_1_1io_1_1_depth_image.html#a76e78a78b85ad90b8945a88022758058">pcl::io::DepthImage::getNoSampleValue</a></div><div class="ttdeci">pcl::uint64_t getNoSampleValue() const</div><div class="ttdoc">method to access the no-sample value, that indicates pixels where no disparity could be determined fo...</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_depth_image_html_a7db23d173639e4586854138a45156178"><div class="ttname"><a href="classpcl_1_1io_1_1_depth_image.html#a7db23d173639e4586854138a45156178">pcl::io::DepthImage::fillDepthImageRaw</a></div><div class="ttdeci">void fillDepthImageRaw(unsigned width, unsigned height, unsigned short *depth_buffer, unsigned line_step=0) const</div><div class="ttdoc">fills a user given block of memory with the raw values with additional nearest-neighbor down-scaling.</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_depth_image_html_a851a92e1c835d27e3c8bcaa2c9bbc75b"><div class="ttname"><a href="classpcl_1_1io_1_1_depth_image.html#a851a92e1c835d27e3c8bcaa2c9bbc75b">pcl::io::DepthImage::getWidth</a></div><div class="ttdeci">unsigned getWidth() const</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_depth_image_html_a90c12640e59adb8f576279ab1bbae358"><div class="ttname"><a href="classpcl_1_1io_1_1_depth_image.html#a90c12640e59adb8f576279ab1bbae358">pcl::io::DepthImage::getFocalLength</a></div><div class="ttdeci">float getFocalLength() const</div><div class="ttdoc">method to access the focal length of the &quot;stereo&quot; frame that was used to retrieve the depth image.</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_depth_image_html_abce7894729ee56f69391940b5e98af18"><div class="ttname"><a href="classpcl_1_1io_1_1_depth_image.html#abce7894729ee56f69391940b5e98af18">pcl::io::DepthImage::DepthImage</a></div><div class="ttdeci">DepthImage(FrameWrapper::Ptr depth_metadata, float baseline, float focal_length, pcl::uint64_t shadow_value, pcl::uint64_t no_sample_value)</div><div class="ttdoc">Constructor</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_depth_image_html_ac47ce107cd62894a56021bee3b753670"><div class="ttname"><a href="classpcl_1_1io_1_1_depth_image.html#ac47ce107cd62894a56021bee3b753670">pcl::io::DepthImage::fillDisparityImage</a></div><div class="ttdeci">void fillDisparityImage(unsigned width, unsigned height, float *disparity_buffer, unsigned line_step=0) const</div><div class="ttdoc">fills a user given block of memory with the disparity values with additional nearest-neighbor down-sc...</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_depth_image_html_ade7ea904db078af4610229e96c639718"><div class="ttname"><a href="classpcl_1_1io_1_1_depth_image.html#ade7ea904db078af4610229e96c639718">pcl::io::DepthImage::getTimestamp</a></div><div class="ttdeci">pcl::uint64_t getTimestamp() const</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_depth_image_html_adfaa641a54a27af0747c751e3589ebdd"><div class="ttname"><a href="classpcl_1_1io_1_1_depth_image.html#adfaa641a54a27af0747c751e3589ebdd">pcl::io::DepthImage::~DepthImage</a></div><div class="ttdeci">~DepthImage()</div><div class="ttdoc">Destructor. Never throws an exception.</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_depth_image_html_aef468d7e0245e1989e5dcac41672e68c"><div class="ttname"><a href="classpcl_1_1io_1_1_depth_image.html#aef468d7e0245e1989e5dcac41672e68c">pcl::io::DepthImage::getFrameID</a></div><div class="ttdeci">unsigned getFrameID() const</div></div>
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